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EP0173954A2 - Brake pressure regulation process - Google Patents

Brake pressure regulation process Download PDF

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Publication number
EP0173954A2
EP0173954A2 EP85110796A EP85110796A EP0173954A2 EP 0173954 A2 EP0173954 A2 EP 0173954A2 EP 85110796 A EP85110796 A EP 85110796A EP 85110796 A EP85110796 A EP 85110796A EP 0173954 A2 EP0173954 A2 EP 0173954A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
brake
mass
deceleration
vehicle deceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP85110796A
Other languages
German (de)
French (fr)
Other versions
EP0173954B1 (en
EP0173954A3 (en
Inventor
Franz Prof. Dr.-Ing. Maurer
Ortwin Engfer
Werner Stumpe
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
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Publication of EP0173954A3 publication Critical patent/EP0173954A3/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
    • B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
    • B60T8/268—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means using the valves of an ABS, ASR or ESP system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle

Definitions

  • the invention relates to a braking force control system with the features of the preamble of claim 1.
  • Such braking force control systems are known e.g. from the PCT application with the publication number 83/03230.
  • the axle loads required for braking force distribution are measured by special sensors.
  • sensors for the axle loads are dispensed with and nevertheless an axle load-dependent brake pressure distribution is carried out.
  • Fig. 1 denotes a brake pressure generator to be operated by the driver for two brake circuits I and II.
  • Electrically actuated brake pressure control valves 4 and 5 for example 3/3 valves, are switched into the pressure lines to the associated brake cylinders 2a and 2b or 3a and 3b, with which the pressure in the brake cylinders can be increased, decreased or kept constant.
  • the brake pressure applied to the brake cylinders is measured in sensors 6 and 7 and the measured values are supplied to an electronic control unit 8.
  • This control unit 8 is also supplied with a signal proportional to the pressure p set in by the driver by means of the brake pressure generator 1, which corresponds to the vehicle deceleration a S desired by the driver.
  • the control unit 8 is also supplied with the measured value of a transmitter 9, which measures the vehicle deceleration. On the basis of the signals supplied to the control unit 8, this generates control signals for the brake pressure control valves 4 and 5.
  • FIG. 2 of the drawing only one wheel brake cylinder 22 or 23 is shown for each brake circuit.
  • the brake pressure control valves are denoted by 24 and 25, the sensors for the front axle brake pressure p v with 26 and those for the rear axle brake pressure P H with 27.
  • the sensor for the brake pressure p activated by the brake pressure generator 1 bears the reference symbol 30, the vehicle decelerator the reference symbol 29.
  • the Control unit block 28 corresponding to control unit block 8 of FIG. 1 is shown in detail in FIG. 2.
  • the above-mentioned reference mass m z is either the mass determined in the previous measurement or z.
  • B the mass with the known curb weight or the known permissible load or another predetermined mass, for which there is a certain relationship between the generated brake pressure, measured brake pressures and the deceleration.
  • the data are advantageously determined and stored before the first vehicle start.
  • the dependence of the vehicle deceleration a on the brake pressure p is shown in FIG. 4 for different loading conditions. All variables on the right side of equation (1) are thus known and the new mass can be calculated if a s -ai - 0, which is reported by the output of the comparator 32.
  • the control deviation (a s - a i ) is supplied to the characteristic control unit 33.
  • the computer 31 delivers a signal corresponding to the determined mass to a characteristic control unit 33, in which a characteristic field specific to the vehicle is stored. This is shown in Fig. 5.
  • the curves 50 and the further curves to be thought between indicate the assignment of the ratios p V / p max and p H / p max for different loading states (m empty , mt and m bel ), where as white
  • the other parameter is the ratio p / p max, so the specification is added (curves 51).
  • the characteristic curve control unit 33 emits two signals which correspond to the pressures Pys and P HS to be controlled and which are fed to the actuators 24 and 25 via control amplifiers 34 and 35.
  • the transducers 26 and 27 report the pressures applied to the brakes back to comparators 36 and 37, so that pressure is applied to the wheel brakes until the setpoint pressures specified at the output of the control unit 33 are reached.
  • Vehicle data and the desired brake pressure assignment quality determine the number of pressure control loops. It is not always necessary to regulate on all axes.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Hydraulic Control Valves For Brake Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

The brake pressure regulation system feeds in different brake pressures at the axles of the vehicles in accordance with the vehicle deceleration specified by the driver and with the vehicle mass. The brake pressure distribution is determined from a stored family of characteristics taking into account the following parameters: "specified deceleration" and "vehicle reference mass". From the pressures required to achieve the vehicle deceleration specified by the driver and from the vehicle deceleration, a new reference mass is in each case determined for the vehicle.

Description

Die Erfindung betrifft eine Bremskraftregelanlage mit den Merkmalen des Oberbegriffs des Anspruchs 1.The invention relates to a braking force control system with the features of the preamble of claim 1.

Derartige Bremskraftregelanlagen sind bekannt z.B. aus der PCT-Anmeldung mit der Veröffentlichungsnummer 83/03230. Bei der dort beschriebenen Regelung werden die zur Bremskraftverteilung benötigten Achslasten durch spezielle Meßwertgeber gemessen.Such braking force control systems are known e.g. from the PCT application with the publication number 83/03230. In the control described there, the axle loads required for braking force distribution are measured by special sensors.

Bei der erfindungsgemäßen Bremskraftregelanlage gemäß den Merkmalen des Anspruchs 1 wird auf Meßwertgeber für die Achslasten verzichtet und trotzdem wird eine achstlastabhängige Bremsdruckverteilung vorgenommen.In the brake force control system according to the invention according to the features of claim 1, sensors for the axle loads are dispensed with and nevertheless an axle load-dependent brake pressure distribution is carried out.

Nähere Einzelheiten der erfindungsgemäßen Anlage sowie weitere Vorteile ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbe-ispiels anhand der Zeichnung.Further details of the system according to the invention and further advantages result from the following description of an exemplary embodiment with reference to the drawing.

Es zeigen:

  • Fig. 1 ein Ausführungsbeispiel einer erfindungsgemäß ausgebildeten Bremsanlage,
  • Fig. 2 ein Ausführungsbeispiel für die erfindungsgemäße Ausgestaltung des Steuergerätes,
  • Flg. 3 ein Diagramm, das die Abhängigkeit der Bremskraft . vom Bremsdruck wiedergibt,
  • Fig. 4 ein Diagramm, das die Abhängigkeit der Fahrzeugverzögerung vom Fahrer vorgegebenen Bremsdruck wiedergibt,
  • Fig. 5 ein Kennlinienfeld zur Bestimmung der Bremsdrücke an den Bremsen der Vorder- und Hinterachse bei vorgegebener Fahrzeugverzögerung und gegebener Masse.
Show it:
  • 1 shows an embodiment of a brake system designed according to the invention,
  • 2 shows an embodiment for the configuration of the control device according to the invention,
  • Flg. 3 is a diagram showing the dependence of the braking force. from the brake pressure,
  • 4 is a diagram showing the dependence of the vehicle deceleration on the driver's predetermined brake pressure.
  • 5 shows a characteristic field for determining the brake pressures on the brakes of the front and rear axles for a given vehicle deceleration and given mass.

In Fig. 1 ist mit 1 ein vom Fahrer zu bedienender Bremsdruckerzeuger für zwei Bremskreise I und II bezeichnet. In die Druckleitungen zu den zugehörigen BremszylIndern 2a und 2b bzw. 3a und 3b sind elektrisch betätigbare Bremsdrucksteuerventile 4 und 5 z.B. 3/3-Ventile eingeschaltet, mit denen der Druck in den Bremszylindern erhöht, erniedrigt oder konstantgehalten werden kann. Der an den Bremszylindern eingesteuerte Bremsdruck wird in Meßwertgebern 6 und 7 gemessen und die Meßwerte werden an ein elektronisches Steuergerät 8 geliefert. Diesem Steuergerät 8 wird von einem Meßwertgeber 10 auch ein dem vom Fahrer mittels des Bremsdruckerzeugers 1 eingesteuerten Druck p proportionales Signal zugeführt, das der vom Fahrer gewünschten Fahrzeugverzögerung aS entspricht. Schließlich wird dem Steuergerät 8 auch der Meßwert eines Meßwertgebers 9 zugeführt, der die Fahrzeugverzögerung äi mißt. Aufgrund der dem Steuergerät 8 zugeführten Signale erzeugt dieses steuersignale für die Bremsdrucksteuerventile 4 und 5.In Fig. 1, 1 denotes a brake pressure generator to be operated by the driver for two brake circuits I and II. Electrically actuated brake pressure control valves 4 and 5, for example 3/3 valves, are switched into the pressure lines to the associated brake cylinders 2a and 2b or 3a and 3b, with which the pressure in the brake cylinders can be increased, decreased or kept constant. The brake pressure applied to the brake cylinders is measured in sensors 6 and 7 and the measured values are supplied to an electronic control unit 8. This control unit 8 is also supplied with a signal proportional to the pressure p set in by the driver by means of the brake pressure generator 1, which corresponds to the vehicle deceleration a S desired by the driver. Finally, the control unit 8 is also supplied with the measured value of a transmitter 9, which measures the vehicle deceleration. On the basis of the signals supplied to the control unit 8, this generates control signals for the brake pressure control valves 4 and 5.

In Fig. 2 der Zeichnung ist von jedem Bremskreis nur jeweils ein Radbremszylinder 22 bzw. 23 dargestellt. Die Bremsdrucksteuerventile sind mit 24 und 25 bezeichnet, die Meßwertgeber für den Vorderachsebremsdruck pv mit 26 und der für den Hinterachsbremsdruck PH mit 27. Der Meßwertgeber für den vom Bremsdruckerzeuger 1 eingesteuerten Bremsdruck p trägt das Bezugszeichen 30, der Fahrzeugverzögerungsgeber das Bezugszeichen 29. Der dem Steuergerät-Block 8 der Fig. 1 entsprechende Steuergerät-Block 28 ist in Fig. 2 detalliert dargestellt.In FIG. 2 of the drawing, only one wheel brake cylinder 22 or 23 is shown for each brake circuit. The brake pressure control valves are denoted by 24 and 25, the sensors for the front axle brake pressure p v with 26 and those for the rear axle brake pressure P H with 27. The sensor for the brake pressure p activated by the brake pressure generator 1 bears the reference symbol 30, the vehicle decelerator the reference symbol 29. The Control unit block 28 corresponding to control unit block 8 of FIG. 1 is shown in detail in FIG. 2.

Er enthält einen Rechner 31, dem Signale zugeführt werden, die den an den Radbremszylinders 22 und 23 eingesteuerten Drücken pv und PH entsprechen; das dem vom Fahrer eingesteuerten Bremsdruck p und damit der Sollverzögerung as entsprechende Signal (aus 30) und das Ausgangssignal eines Vergleichers 32 in dem ein der Differenz as - ai entsprechendes Signal erzeugt wird, wird dem Rechner ebenfalls zugeführt. Dieser Rechner berechnet die bei der augenblicklichen Bremsung vorhandene Fahrzeugmasse m gemäß der Beziehung

Figure imgb0001

wenn as-ai ungefähr 0 ist.
Hierin bedeuten:

  • mz eine Bezugsmasse
  • POV } die bekannten Drücke vorn und hinten, ab POH } denen eine Bremskraft entsteht
  • CV } die bekannten und im wesentlichen kon-CH } stanten Faktoren, mit denen die Bremskraft in Abhängigkeit vom Bremsdruck ansteigt vorn und hinten PV } die gemessenen Drücke vorn und hinten PH p der vom Bremsdruckerzeuger eingesteuerte und in 30 gemessene Druck, der der gewünschten Verzögerung entspricht..
It contains a computer 31, to which signals are supplied which correspond to the pressures p v and P H applied to the wheel brake cylinders 22 and 23; The brake pressure p entered by the driver and thus the target deceleration a s (from 30) and the output signal of a comparator 32 in which a signal corresponding to the difference a s - a i is generated are also fed to the computer. This computer calculates the vehicle mass m present during the instant braking according to the relationship
Figure imgb0001
if a s -ai is about 0.
Here mean:
  • m z is a reference mass
  • P OV } the known pressures at the front and rear, from P OH } which generate a braking force
  • C V}, the known and substantially kon-C H} constants factors with which the braking force depending on the brake pressure is increased at front and rear P V} the measured pressures front and rear P H p the pressure entered by the brake pressure generator and measured in 30, which corresponds to the desired deceleration.

Die Abhängigkeiten der Bremskräfte Bv und BH von dem Bremsdrücken Py und PH für die beiden Achsen sind in Fig. 3 dargestellt.The dependencies of the braking forces B v and B H on the braking pressures Py and P H for the two axes are shown in FIG. 3.

Die oben erwähnte Bezugsmasse mz ist entweder die bei der vorhergehenden Messung festgestellte Masse oder bei einer ersten Bremsung nach Fahrzeugstart z. B. die Masse bei dem bekannten Leergewicht oder der bekannten zulässigen Beladung oder eine sonstige vorgegebene Masse, für die sich eine bestimmte festzuschreibende Abhängigkeit zwischen erzeugtem Bremsdruck, gemessenen Bremsdrücken und der Verzögerung ergibt. Vorteilhaft werden die Daten vor dem ersten Fahrzeugstart bestimmt und gespeichert. Die Abhängigkeit der Fahrzeugverzögerung a vom Bremsdruck p zeigt Fig. 4 für verschiedene Beladungszustände. Damit sind alle Größen auf der rechten Seite der Gleichung (1) bekannt und die neue Masse kann errechnet werden, wenn as-ai - 0 ist, was vom Ausgang des Vergleichers 32 gemeldet wird.The above-mentioned reference mass m z is either the mass determined in the previous measurement or z. B. the mass with the known curb weight or the known permissible load or another predetermined mass, for which there is a certain relationship between the generated brake pressure, measured brake pressures and the deceleration. The data are advantageously determined and stored before the first vehicle start. The dependence of the vehicle deceleration a on the brake pressure p is shown in FIG. 4 for different loading conditions. All variables on the right side of equation (1) are thus known and the new mass can be calculated if a s -ai - 0, which is reported by the output of the comparator 32.

Über das Zeitglied 38, z. B. mit PI-Verhalten , wird die Regelabweichung (as - ai) dem Kennlinien-Steuergerät 33 zugeführt. Der Rechner 31 liefert ein der ermittelten Masse entsprechendes Signal an ein Kennliniern-Steuergerät 33, in dem ein für das Fahrzeug spezifisches Kennlinienfeld abgespeichert ist. Dieses ist in Fig. 5 dargestellt. Die Kurvenzüge 50 und die dazwischen zu denkenden weiteren Kurvenzüge geben die Zuordnung der Verhältnisse pV/pmax und pH/pmax für verschiedene Beladungszustände (mleer, mt und mbel) an, wobei als weiterer Parameter noch das Verhältnis p/pmax also die Vorgabe hinzukommt (Kurven 51). Das Kennlinien-Steuergerät 33 gibt zwei Signale ab, die den einzusteuernden Drücken Pys und P HS entsprechen und die über Regelverstärker 34 und 35 den Stellgliedern 24 und 25 zugeführt werden. Die Meßwertgeber 26 und 27 melden die an den Bremsen eingesteuerten Drücke an Vergleicher 36 und 37 zurück, so daß an den Radbremsen solange Druck einsteuert wird bis die am Ausgang des Steuergerätes 33 vorgegebenen Solldrücke erreicht sind.Via the timer 38, e.g. B. with PI behavior, the control deviation (a s - a i ) is supplied to the characteristic control unit 33. The computer 31 delivers a signal corresponding to the determined mass to a characteristic control unit 33, in which a characteristic field specific to the vehicle is stored. This is shown in Fig. 5. The curves 50 and the further curves to be thought between indicate the assignment of the ratios p V / p max and p H / p max for different loading states (m empty , mt and m bel ), where as white The other parameter is the ratio p / p max, so the specification is added (curves 51). The characteristic curve control unit 33 emits two signals which correspond to the pressures Pys and P HS to be controlled and which are fed to the actuators 24 and 25 via control amplifiers 34 and 35. The transducers 26 and 27 report the pressures applied to the brakes back to comparators 36 and 37, so that pressure is applied to the wheel brakes until the setpoint pressures specified at the output of the control unit 33 are reached.

Die Regelung läuft bei einem Fahrzeug bei dem die Masse schon bestimmt wurde wie folgt ab:

  • Vom Fahrer wird mittels des Druckgebers 1 ein Druck p vorgegeben, der einer Soll-Verzögerung as proportional ist. Zu Bremsbeginn ist ai - 0, so daß die Meßgröße as über das Zeitglied 38 bis zum Kennlinien-Block 33 gelangt. Mit der durch den Rechner vorher ermittelten und gespeicherten Masse mt wird aus dem gespeicherten Kennlinienfeld im Kennlinien-Steuergerät 33 eine definierte Splittung in Pys und PHs vorgenommen. Die Druckregelkreise mit den Regelverstärkern 34 und 35 und den Ventilen 24 und 25 für die Vorder- und Hinterachse stellen die Bremsdrücke in den Bremszylindern 22 und 23 ein. Aus den Bremskräften Bv, Bh und der vorhandenen Fahrzeugmasse ergibt sich eine Fahrzeugverzögerung ai (Verzögerungsgeber 29), die mit as im Vergleicher 32 verglichen wird. Nach erfolgtem Abgleich (as - ai = 0 d. h. Druckänderung bis dieser Abgleich erreicht ist), wird im Rechner 31 mittels der Bremszylinderdrücke py, pH und dem as-Wert, der dem Druck p proportional ist, die vorhandene Fahrzeugmasse überprüft, eventuell korrigiert und abgespeichert. Diese eventuell korrigierte Masse steht für die Druckbestimmung der nächsten Bremsung zur Verfügung.
The regulation works as follows for a vehicle in which the mass has already been determined:
  • A pressure p is specified by the driver by means of the pressure sensor 1, which pressure is proportional to a target deceleration a s . At the start of braking is ai - 0, so that the measured variable a s reaches the characteristic block 33 via the timing element 38. With the mass m t previously determined and stored by the computer, a defined split into Py s and PHs is made from the stored characteristic field in the characteristic control device 33. The pressure control circuits with the control amplifiers 34 and 35 and the valves 24 and 25 for the front and rear axles set the brake pressures in the brake cylinders 22 and 23. The braking forces B v , B h and the existing vehicle mass result in a vehicle deceleration ai (deceleration sensor 29), which is compared with a s in the comparator 32. After the adjustment has taken place (a s - ai = 0, ie pressure change until this adjustment is achieved), the existing vehicle mass is checked in the computer 31 using the brake cylinder pressures py, p H and the a s value, which is proportional to the pressure p corrected and saved. This possibly corrected mass is available for the pressure determination of the next braking.

Fahrzeugdaten und die gewünschte Bremsdruckzuordnungsgüte bestimmen die Anzahl der Druckregelkreise. Nicht in jedem Fall muß an allen Achsen geregelt werden.Vehicle data and the desired brake pressure assignment quality determine the number of pressure control loops. It is not always necessary to regulate on all axes.

Wird ein Fahrzeug neu beladen, so ist der Regelablauf wie folgt:

  • Angenommen ein leeres Fahrzeug wird auf die Masse mt beladen. Im Rechner 31 Ist noch die Masse des leeren Fahrzeugs gespeichert. Wird nun anschließend eine Bremsung des teilbeladenen Fahrzeuges mit der Masse mt vorgenommen und z.B. vom Fahrer eine Bremswirkung entsprechend p/Pmax = 0,2 vorgegeben, dann wird vom Kennlinien-Steuergerät 33 eine Verteilung auf pV und pH entsprechend der Masse mleer und für p/pmax = 0,2 vorgenommen. Diese Situation gibt Punkt A in Fig. 5 wieder. Durch die höhere Fahrzeugmasse (mt » mleer) ist bei der ermittelten Bremsdruckverteilung nach Punkt A die Verzögerung zu klein (aist « asoll). Das Kennlinien-Steuergerät 33 erhöht nun die den Bremsdrücken pV und pH entsprechendes Signale aufgrund des vom Zeitglied 38 kommenden Regelabweichung bis bei Punkt B die gewünschte Fahrzeugverzögerung erreicht ist (ai = as). Nun ermittelt der Rechner die neue Fahrzeugmasse mt und speichert sie ab. Die nachfolgenden Bremsungen werden dann von Anfang an mit einer Bremsdruckverteilung entsprechend mt vorgenommen. Nach dem nächsten Beladungswechsel erfolgt wieder der automatische Abgleich an die neue Fahrzeugmasse entweder von der letzten Fahrzeugmasse aus oder vom Leergewicht ausgehend.
If a vehicle is reloaded, the control sequence is as follows:
  • Suppose an empty vehicle is loaded onto the mass mt. The mass of the empty vehicle is still stored in the computer 31. If the partially loaded vehicle is then braked with the mass m t and, for example, the driver specifies a braking effect corresponding to p / Pmax = 0.2, the characteristic curve control unit 33 will empty a distribution to p V and p H corresponding to the mass m and made for p / p max = 0.2. This situation reflects point A in FIG. 5. Due to the higher vehicle mass (m t »m empty ), the deceleration is too small for the determined brake pressure distribution according to point A (a is « a should ). The characteristic curve control unit 33 now increases the signals corresponding to the brake pressures p V and p H due to the control deviation coming from the timing element 38 until the desired vehicle deceleration is reached at point B (a i = a s ). Now the computer determines the new vehicle mass m t and saves it. The subsequent braking operations are then carried out from the beginning with a brake pressure distribution corresponding to mt. After the next load change, the automatic adjustment to the new vehicle mass takes place either from the last vehicle mass or from the empty weight.

Oben wurde der vom Fahrer eingesteuerte Bremsdruck als Führungsgröße. benutzt. Er kann aber auch direkt eine elektrische Größe als Führungsgröße vorgeben.Above was the brake pressure entered by the driver as a command variable. used. However, it can also directly specify an electrical variable as a reference variable.

Claims (4)

1. Bremskraftregelanlage, bei der vom Fahrer beim Bremsen eine bestimmte Fahrzeugverzögerung as vorgegeben wird und bei dem ein Steuergerät in Abhängigkeit von dieser Vorgabe und abhängig von der Fahrzeugmasse unterschiedliche Bremsdrücke an den Bremsen dieser Achsen derart einsteuert, daß die gewünschte Fahrzeugverzögerung as erreicht wird, wozu ein Vergleich der vorgegeben en Fahrzeugverzögerung as mit der vorhandenen durch einen Verzögerungsgeber ermittelten Fahrzeugverzögerung ai durchgeführt wird, dadurch gekennzeichnet, daß mittels einer Bezugsmasse mz für das Fahrzeug und der vorgegebenen Fahrzeugverzögerung as in einem abgespeicherten fahrzeugspezifischen Kennlinienfeld (in 33), das die Bremsdruckverteilung an den Achsen in Abhängigkeit von der vorgegebenen Fahrzeugverzögerung as und der Fahrzeugmasse mt beinhaltet Bremsdrücke py und ph für die Bremsen der beiden Achsen ermittelt und an den Bremsen eingesteuert werden, daß bei Abweichen des dabei erzielten Fahrzeugverzögerungswerts ai vom Sollwert as die Bremsdrücke py und pH entsprechend geändert werden bis diese Fahrzeugverzögerungswerte etwa gleich sind und daß aus den eingesteuerten Bremsdrücken und der Sollverzögerung as nach dem Abgleich (ai ≈ as) die Fahrzeugmasse neu bestimmt und als Bezugsmasse abgespeichert wird (in 31).1. Braking force control system in which a certain vehicle deceleration a s is specified by the driver during braking and in which a control unit controls different brake pressures on the brakes of these axles depending on this specification and depending on the vehicle mass in such a way that the desired vehicle deceleration a s is achieved , for which purpose a comparison of the predetermined vehicle deceleration a s with the existing vehicle deceleration ai determined by a decelerator is carried out, characterized in that by means of a reference mass m z for the vehicle and the predetermined vehicle deceleration a s in a stored vehicle-specific characteristic field (in 33), that the brake pressure distribution on the axles as a function of the predetermined vehicle deceleration a s and the vehicle mass m t includes brake pressures py and p h for the brakes of the two axles determined and controlled on the brakes that if the vehicle deceleration achieved thereby deviates ai from the setpoint a s the brake pressures py and p H are changed accordingly until these vehicle deceleration values are approximately the same and that the vehicle mass is redetermined from the input brake pressures and the target deceleration a s after the adjustment (a i ≈ as) and stored as a reference mass (in 31). 2. Bremskraftregelanlage nach Anspruch 1, dadurch gekennzeichnet, daß von der Bezugsmasse Leergewicht oder Maximalgewicht des Fahrzeugs ausgegangen wird.2. Braking force control system according to claim 1, characterized in that it is assumed from the reference weight of the empty weight or maximum weight of the vehicle. 3. Bremskraftregelanlage nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die den an den Bremszylindern (22, 23) eingesteuerten Drücken entsprechenden Signalen mit den jeweils zugehörigen über das abgespeicherte Kennlinienfeld ermittelten Bremsdrucksteuersignalen verglichen werden.3. Brake force control system according to claim 1 or 2, characterized in that the signals corresponding to the pressures applied to the brake cylinders (22, 23) are compared with the respectively associated brake pressure control signals determined via the stored characteristic field. 4. Bremskraftregelanlagen nach Anspruch 1, dadurch gekennzeichnet, daß das fahrzeugspezifische Kennlinienfeld Bremsenkennwerte, Fahrzeugradstand und Schwerpunkthöhen definierter Beladungszustände berücksichtigt.4. Brake force control systems according to claim 1, characterized in that the vehicle-specific characteristic field takes into account brake parameters, vehicle wheel base and center of gravity heights of defined loading conditions.
EP19850110796 1984-09-07 1985-08-28 Brake pressure regulation process Expired - Lifetime EP0173954B1 (en)

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DE19843432841 DE3432841A1 (en) 1984-09-07 1984-09-07 Brake force control system
DE3432841 1984-09-07

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EP0173954A2 true EP0173954A2 (en) 1986-03-12
EP0173954A3 EP0173954A3 (en) 1989-07-26
EP0173954B1 EP0173954B1 (en) 1992-01-02

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JP (1) JPH06104442B2 (en)
DE (2) DE3432841A1 (en)

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EP0357983A2 (en) * 1988-09-03 1990-03-14 Daimler-Benz Aktiengesellschaft Process for load-depending control of brake pressure on vehicles and device for accomplishing this process
EP0445575A2 (en) * 1990-03-08 1991-09-11 Mercedes-Benz Ag Brake pressure distribution procedure between the axes of an automobile vehicle, provided with anti-skid pressurized fluid brake
EP0529280A2 (en) * 1991-08-24 1993-03-03 Robert Bosch Gmbh Brake pressure control device for vehicle
EP0563596A2 (en) * 1992-03-31 1993-10-06 TEMIC TELEFUNKEN microelectronic GmbH Procedure for determination of brake reference values
DE4243668A1 (en) * 1992-12-23 1994-06-30 Bosch Gmbh Robert Automobile braking system with electronic braking pressure distribution
EP0653340A1 (en) * 1993-11-11 1995-05-17 TEMIC TELEFUNKEN microelectronic GmbH Procedure for controlling braking in vehicles
EP0678737A1 (en) * 1994-04-22 1995-10-25 Eaton Corporation System and method for determining relative vehicle mass
EP0724995A1 (en) * 1995-02-03 1996-08-07 Mercedes-Benz Ag Method for wheel speed sensor-supported, load-adaptive adjustment of brake pressure control parameters for brake pressure control in a braking device for vehicles
US5615931A (en) * 1994-10-26 1997-04-01 Robert Bosch Gmbh Method and apparatus for regulating the brake system of a vehicle
GB2312481B (en) * 1996-04-26 1999-02-10 Bosch Gmbh Robert Method and device for controlling the brake system of a vehicle
EP0629533B2 (en) † 1993-06-12 2000-08-23 Robert Bosch Gmbh Method of operating a brake system for a vehicle
FR2838396A1 (en) * 2002-04-15 2003-10-17 Renault Sa BRAKING SYSTEM FOR A MOTOR VEHICLE
CN100340437C (en) * 2003-04-09 2007-10-03 罗伯特—博希股份公司 Method and device for reducing the brake load at at least one wheel brake
US8770673B2 (en) 2008-06-11 2014-07-08 Robert Bosch Gmbh Brake device for a motor vehicle having a pressure accumulator
US8950827B2 (en) 2008-06-11 2015-02-10 Robert Bosch Gmbh Brake device for a motor vehicle having at least three brake circuits
CN114763126A (en) * 2021-06-15 2022-07-19 长城汽车股份有限公司 Vehicle brake control method and device, vehicle and readable storage medium

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DE19511844A1 (en) * 1995-03-31 1996-10-02 Teves Gmbh Alfred Method of operating braking force booster
DE19707207B4 (en) * 1997-02-24 2007-10-11 Wabco Gmbh Method for determining an operating variable representing a braking force
DE19707210C5 (en) * 1997-02-24 2010-10-07 Wabco Gmbh Method for axle load-dependent brake force distribution in a brake system of a vehicle
DE19947753A1 (en) * 1999-10-02 2001-04-19 Daimler Chrysler Ag Pneumatic brake system esp. for utility vehicles has rear axle ABS control valve to compensate for differential between rear axle reference brake pressure and actual brake pressure
FR2867435B1 (en) * 2004-03-09 2007-11-09 Peugeot Citroen Automobiles Sa ACTIVE BRAKING SYSTEM FOR MOTOR VEHICLE
DE102008041760A1 (en) 2008-06-11 2009-12-17 Robert Bosch Gmbh Braking device for a motor vehicle
JP2010284990A (en) * 2009-06-09 2010-12-24 Toyota Motor Corp Vehicle braking force control device

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Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0357983A2 (en) * 1988-09-03 1990-03-14 Daimler-Benz Aktiengesellschaft Process for load-depending control of brake pressure on vehicles and device for accomplishing this process
EP0357983A3 (en) * 1988-09-03 1990-09-12 Daimler-Benz Aktiengesellschaft Procedure for load-depending control of brake pressure on vehicles and device for accomplishing this procedure
US5011236A (en) * 1988-09-03 1991-04-30 Daimler-Benz Ag Process for carrying out a load-dependent brake regulation of brakes on a vehicle having an anti-lock system
EP0445575A3 (en) * 1990-03-08 1993-05-26 Mercedes-Benz Aktiengesellschaft Brake pressure distribution procedure between the axes of an automobile vehicle, provided with anti-skid pressurized fluid brake
EP0445575A2 (en) * 1990-03-08 1991-09-11 Mercedes-Benz Ag Brake pressure distribution procedure between the axes of an automobile vehicle, provided with anti-skid pressurized fluid brake
EP0529280A2 (en) * 1991-08-24 1993-03-03 Robert Bosch Gmbh Brake pressure control device for vehicle
EP0529280A3 (en) * 1991-08-24 1993-05-19 Robert Bosch Gmbh Brake pressure control device for vehicle
EP0563596A2 (en) * 1992-03-31 1993-10-06 TEMIC TELEFUNKEN microelectronic GmbH Procedure for determination of brake reference values
EP0563596A3 (en) * 1992-03-31 1995-12-20 Telefunken Microelectron Procedure for determination of brake reference values
DE4243668A1 (en) * 1992-12-23 1994-06-30 Bosch Gmbh Robert Automobile braking system with electronic braking pressure distribution
DE4243668C2 (en) * 1992-12-23 2003-01-23 Bosch Gmbh Robert Brake system for a motor vehicle
EP0629533B2 (en) † 1993-06-12 2000-08-23 Robert Bosch Gmbh Method of operating a brake system for a vehicle
EP0653340A1 (en) * 1993-11-11 1995-05-17 TEMIC TELEFUNKEN microelectronic GmbH Procedure for controlling braking in vehicles
EP0678737A1 (en) * 1994-04-22 1995-10-25 Eaton Corporation System and method for determining relative vehicle mass
US5615931A (en) * 1994-10-26 1997-04-01 Robert Bosch Gmbh Method and apparatus for regulating the brake system of a vehicle
EP0724995A1 (en) * 1995-02-03 1996-08-07 Mercedes-Benz Ag Method for wheel speed sensor-supported, load-adaptive adjustment of brake pressure control parameters for brake pressure control in a braking device for vehicles
US6208926B1 (en) 1996-04-26 2001-03-27 Robert Bosch Gmbh Method and apparatus for controlling the brake system of a vehicle
GB2312481B (en) * 1996-04-26 1999-02-10 Bosch Gmbh Robert Method and device for controlling the brake system of a vehicle
FR2838396A1 (en) * 2002-04-15 2003-10-17 Renault Sa BRAKING SYSTEM FOR A MOTOR VEHICLE
EP1354776A1 (en) * 2002-04-15 2003-10-22 Renault s.a.s. Brake system for an automotive vehicle
CN100340437C (en) * 2003-04-09 2007-10-03 罗伯特—博希股份公司 Method and device for reducing the brake load at at least one wheel brake
US8770673B2 (en) 2008-06-11 2014-07-08 Robert Bosch Gmbh Brake device for a motor vehicle having a pressure accumulator
US8950827B2 (en) 2008-06-11 2015-02-10 Robert Bosch Gmbh Brake device for a motor vehicle having at least three brake circuits
CN114763126A (en) * 2021-06-15 2022-07-19 长城汽车股份有限公司 Vehicle brake control method and device, vehicle and readable storage medium

Also Published As

Publication number Publication date
JPH06104442B2 (en) 1994-12-21
JPS6171261A (en) 1986-04-12
EP0173954B1 (en) 1992-01-02
EP0173954A3 (en) 1989-07-26
DE3432841A1 (en) 1986-03-20
DE3585062D1 (en) 1992-02-13

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